// settings for pmsm_estim.cpp

experiment={
	ndat = 120000;
};

system= {
	class= "pmsmDS";
	params = "pmsm107@../cfg/zcu.cfg";
	tstep = 1.0; // steps for profile in [s]
	profileW = [0, 1, 5, 10, 10, 3, 0, 0, -3, -3, -10, -10, -4, 0, 0];
	profileM = [0, 10, 0, 0, 10, 0, 0, 0, 0, 0, 10, 0, 0];
	log_level = "logvoltage";
};

estimator = (
	 {class="EKFCh";
	 IM = {class="IMpmsmMz";
		params = "pmsm107@../cfg/zcu.cfg";
	 };
	 OM = {class="OMpmsm";};
/*	 dQ : 
	{
	elements = [ 0.001738643873, 0.001738643873, 1.00000004, 1.562501e-08, 1 ];
	cols = 4;
	};*/
	dQ=[0.0017, 0.0017, 0.00000004, 1e-14, 1e-1];
	dR=[0.025, 0.025];
	dP0=[0., 0., 0., 0., 0.];
	 //connect
	 drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");};  // observed u
	 //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
	 rv = {class="RV"; names=("EKFMz"); sizes=[5];};
	 log_level="logevidence,logbounds";
	 },
				 //
	 {class="EKFCh";
	 IM = {class="IMpmsm2o";
		params = "pmsm107@../cfg/zcu.cfg";
	 };
	 OM = {class="OMpmsm";};
	 dQ=[0.017, 0.017, .1, 1e-6];
	 dR=[0.025, 0.025];
	 dP0=[1., 1., 1., 1.];
	 //connect
	 drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");};  // observed u
	 //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
	 rv = {class="RV"; names=("EKF"); sizes=[4];};
	 log_level="logevidence,logbounds";
	 },
				 				 //
	 {class="EKFCh";
	 IM = {class="IMpmsmStat";
		params ="pmsm107@../cfg/zcu.cfg";
	 };
	 OM = {class="OMpmsm";};
	 dQ=[0.017, 0.017, .1, 1e-6];//[0.017, 0.017, 100., 1e-4];
	 dR=[0.025, 0.025];
	 dP0=[1., 1., 1., 1.];
	 //connect
	 drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");};  // observed u
	 //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
	 rv = {class="RV"; names=("EKFw"); sizes=[4];};
	 log_level="logevidence,logbounds";
	 },

	 {class="pmsmCRBMz";
	 IM = {class="IMpmsmMz";
		params ="pmsm107@../cfg/zcu.cfg";
	 };
	 OM = {class="OMpmsm";};
	dQ=[0.0017, 0.0017, 0.00000004, 1e-14, 1e-1];
//	 dQ=[0.017, 0.017, .1, 1e-6];//[0.017, 0.017, 100., 1e-4];
	 dR=[0.025, 0.025];
	 dP0=[0., 0., 0., 0., 0.];
	 //connect
	 drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");};  // observed u
	 //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
	 rv = {class="RV"; names=("CRB"); sizes=[5];};
	 log_level="logevidence,logbounds";
	 }


);
	
logger= {
	class="dirfilelog";
	maxlen = 100;
	dirname = "exp/Mz";
};